Construction machinery

Abstract

To provide a construction machine capable of preventing contact with objects therearound even when detecting objects around a superstructure in a state of being positioned on a slop surface during its operation.SOLUTION: A hydraulic shovel is provided with: a traveling body 1; a superstructure 2 rotatably arranged on an upper side of the traveling body 1; a work device 4 connected to the superstructure 2; object detection sensors 15A to 15C for detecting objects around the superstructure 2; a tilt sensor 16 for detecting a tilt of the superstructure 2; a rotation limit valve 24 for limiting rotational motion of the superstructure 2; and a controller 22. The controller 22 stop rotation of the superstructure 2 by controlling the rotation limit valve 24 when the position of an object detected with any of the object detection sensors 15A to 15C is in a rotation stop area set around the superstructure 2. The controller 22 corrects the rotation stop area upon detection of the tilt of the superstructure 2 with the tilt sensor 16.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a construction machine having a rotating body that can rotate relative to a running body. [Background technology]

[0002] A hydraulic excavator, which is one type of construction machine, comprises a traveling body, a rotating body rotatably mounted above the traveling body, and a working device connected to the rotating body. The working device comprises a boom rotatably connected to the rotating body, an arm rotatably connected to the tip of the boom, and a bucket rotatably connected to the tip of the arm.

[0003] Patent Document 1 discloses a technology for avoiding contact between a rotating body of a hydraulic excavator and surrounding objects. Patent Document 1 includes an object detection sensor that detects objects around the rotating body, and a controller that stops the rotation of the rotating body when the position of the object detected by the object detection sensor is located in a rotation stop area set around the rotating body (more specifically, an area within a predetermined distance from the rotating body). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-104930 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, hydraulic excavators are sometimes placed and operated on inclined surfaces. In such cases, the inertial force of the rotating body increases when the rotating body rotates downwards in this condition. Therefore, if an object is detected in this condition, the rotating body cannot immediately stop rotating, increasing the possibility that the rotating body will come into contact with surrounding objects. Patent Document 1 does not take such a problem into consideration.

[0006] An object of the present invention is to provide a construction machine that can prevent contact with surrounding objects even when an object is detected around the rotating body while the machine is placed on a slope and operating. [Means for solving the problem]

[0007] To achieve the above objectives, Representative The present invention provides a construction machine including a running body, a rotating body rotatably provided above the running body, a working device connected to the rotating body, an object detection sensor that detects objects around the rotating body, a rotation limiting device that limits the rotation of the rotating body, and a controller that controls the rotation limiting device to stop the rotation of the rotating body when the position of the object detected by the object detection sensor is located in a rotation stop area set around the rotating body, the construction machine also includes an inclination sensor that detects the inclination of the rotating body, and when the inclination sensor detects the inclination of the rotating body, the controller: The greater the inclination angle of the rotating body detected by the inclination sensor, the greater the distance from the rotating body. The turning stop area expansion do. [Effects of the Invention]

[0008] According to the construction machine of the present invention, even when the machine is placed on a slope and in operation and an object is detected around the rotating body, contact with the surrounding object can be prevented. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing the structure of a hydraulic excavator according to a first embodiment of the present invention. [Figure 2] 1 is a top view showing the structure of a hydraulic excavator according to a first embodiment of the present invention. [Figure 3] FIG. 2 is a diagram illustrating a configuration related to the operation of a swing motor, among the configurations of the drive device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 4] 4 is a flowchart showing a processing procedure of a controller in the first embodiment of the present invention. [Figure 5]FIG. 3 is a top view showing a turning stop area before correction in the first embodiment of the present invention. [Figure 6] FIG. 4 is a top view showing a corrected turning stop area in the first embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing a configuration related to the operation of a swing motor in the configuration of a drive device for a hydraulic excavator according to a second embodiment of the present invention. [Figure 8] 10 is a flowchart showing a processing procedure of a controller in a second embodiment of the present invention. [Figure 9] 10 is a top view showing a turning stop area and a turning deceleration area before correction in a second embodiment of the present invention. FIG. [Figure 10] 10 is a top view showing a turning stop area and a turning deceleration area after correction in the second embodiment of the present invention. FIG. [Figure 11] FIG. 10 is a top view showing a turning stop area and a turning deceleration area after correction in a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] A first embodiment of the present invention will be described with reference to the drawings.

[0011] 1 and 2 are a side view and a top view showing the structure of a hydraulic excavator according to this embodiment. Note that hereinafter, the front side (the left side in FIGS. 1 and 2), rear side (the right side in FIGS. 1 and 2), left side (the near side in the plane of FIG. 1, the lower side in FIG. 2), and right side (the far side in the plane of FIG. 1, the upper side in FIG. 2) of an operator seated in an operator's seat in an operator's cab of the hydraulic excavator will be simply referred to as the front side, rear side, left side, and right side.

[0012] The hydraulic excavator of this embodiment comprises a travelable running body 1 and a rotating body 2 rotatably provided above the running body 1, and the running body 1 and the rotating body 2 form a vehicle body. The running body travels using a traveling motor (not shown). The rotating body 2 rotates using a swing motor 3 (see FIG. 3 described later).

[0013] A working device 4 is connected to the rotating unit 2. The working device 4 includes a boom 5 connected to the front of the rotating unit 2 so as to be rotatable in the vertical direction, an arm 6 connected to the tip of the boom 5 so as to be rotatable in the vertical direction, and a bucket 7 connected to the tip of the arm 6 so as to be rotatable in the vertical direction. The boom 5, arm 6, and bucket 7 are rotated by a boom cylinder 8, an arm cylinder 9, and a bucket cylinder 10, respectively.

[0014] The rotating unit 2 includes a rotating frame 11 that forms a foundation structure, a cab 12 located in front of the rotating frame 11, a machine room 13 located in the rear of the rotating frame 11, a counterweight 14 that is provided at the rear end of the rotating frame 11 and balances the working device 4, object detection sensors 15A, 15B, 15C, and an inclination sensor 16 (see FIG. 3 described below). The object detection sensors 15A, 15B, 15C are, for example, distance measurement sensors or cameras, and detect objects around the rotating unit 2 (specifically, on the left, rear, and right sides of the rotating unit 2). The inclination sensor 16 is, for example, an inertial measurement unit, and detects the tilt direction and tilt angle of the rotating unit 2 relative to a horizontal plane.

[0015] A driver's seat (not shown) where an operator sits is provided inside the driver's cab 12 of the revolving body 2. A travel operation device (not shown) that commands the travel of the traveling body 1 is disposed in front of the driver's seat. On the left side of the driver's seat, a work operation device 17 (see FIG. 3 described later) that commands the rotation of the arm 6 and the rotation of the revolving body 2 is disposed. On the right side of the driver's seat, a work operation device (not shown) that commands the rotation of the boom 5 and the bucket 7 is disposed.

[0016] The plurality of hydraulic actuators (more specifically, the above-mentioned traveling motor, swing motor 3, boom cylinder 8, arm cylinder 9, bucket cylinder 10, etc.) are driven by a drive unit mounted on the hydraulic excavator. Fig. 3 is a diagram showing the configuration related to the operation of the swing motor 3, among the configuration of the drive unit of the hydraulic excavator in this embodiment.

[0017] The drive device of this embodiment includes a hydraulic pump 18 and a pilot pump 19 driven by a prime mover (more specifically, for example, an engine or an electric motor) not shown, a control valve 20 that controls the flow of pressurized oil from the hydraulic pump 18 to the swing motor 3, a work operation device 17 that switches the control valve 20 in response to operation of an operation lever 21, and a controller 22.

[0018] The work operating device 17 has a first pilot valve (not shown) that generates and outputs pilot pressure using the discharge pressure of the pilot pump 19 as the source pressure in accordance with the amount of operation of the left side of the operating lever 21, and a second pilot valve (not shown) that generates and outputs pilot pressure using the discharge pressure of the pilot pump 19 as the source pressure in accordance with the amount of operation of the right side of the operating lever 21.

[0019] When the operator operates the operating lever 21 to the left, pilot pressure from the first pilot valve is output to a pressure receiving portion on one side of the control valve 20, and the control valve 20 is switched to the switching position on the left side in the figure. As a result, pressure oil from the hydraulic pump 18 is supplied to a port on one side of the swing motor 3 via the control valve 20, and the swing motor 3 rotates in one direction. Therefore, the swing unit 2 swings to the left.

[0020] When the operator operates the operating lever 21 to the right, pilot pressure from the second pilot valve is output to the pressure receiving portion on the other side of the control valve 20, and the control valve 20 is switched to the switching position on the right side in the figure. As a result, pressure oil from the hydraulic pump 18 is supplied to the port on the other side of the swing motor 3 via the control valve 20, and the swing motor 3 rotates in the opposite direction. Therefore, the swing unit 2 swings to the right.

[0021] A pilot pressure sensor 23A is provided in the oil passage between the control valve 20 and the first pilot valve, and a pilot pressure sensor 23B is provided in the oil passage between the control valve 20 and the second pilot valve. A swing limiting valve 24 (electromagnetic on-off valve) is provided in the oil passage between the pilot pump 19 and the first and second pilot valves.

[0022] Although not shown, the controller 22 has a processor that executes processing according to a program and a memory that stores the program and data. The controller 22 has, as a functional configuration, a swing limit control unit 25 that controls the swing limit valve 24 based on the detection results of the above-mentioned object detection sensors 15A, 15B, and 15C.

[0023] The swing limit control unit 25 of the controller 22 stores a swing stop area, which is set as an area around the rotating unit 2 within a predetermined distance from the rotating unit 2 and in which, if an object is present in the area, the swing of the rotating unit 2 is stopped to prevent contact with the object. The swing limit control unit 25 controls the swing limit valve 24 to an open state when no object is detected by the object detection sensors 15A, 15B, and 15C, or when an object detected by any of the object detection sensors 15A, 15B, and 15C is not located in the swing stop area. This enables the first and second pilot valves to generate pilot pressure, allowing the rotating unit 2 to swing. On the other hand, when an object detected by any of the object detection sensors 15A, 15B, and 15C is located in the swing stop area, the swing limit control unit 25 controls the swing limit valve 24 to a closed state. This disables the first and second pilot valves from generating pilot pressure, stopping the swing of the rotating unit 2.

[0024] A major feature of this embodiment is that the controller 22 further includes an area correction unit 26 that corrects the swing stop area based on the detection result of the tilt sensor 16. If the tilt angle of the swing unit 2 detected by the tilt sensor 16 is equal to or greater than a predetermined threshold, the area correction unit 26 determines that tilt of the swing unit 2 has been detected, and corrects the swing stop area. In particular, the swing stop area is enlarged compared to when tilt of the swing unit 2 is not detected.

[0025] Next, the processing procedure of the controller of this embodiment will be described with reference to Fig. 4, which is a flowchart showing the processing procedure of the controller of this embodiment.

[0026] In step S1, the controller 22 determines whether or not the pilot pressure sensor 23A or 23B detects the pilot pressure (i.e., whether or not a turn command is given). When the pilot pressure sensor 23A or 23B detects the pilot pressure (i.e., when a turn command is given), the controller 22 proceeds to step S2.

[0027] In step S2, the controller 22 determines whether or not the inclination sensor 16 has detected the inclination of the revolving unit 2. If the inclination sensor 16 has not detected the inclination of the revolving unit 2, the process proceeds to step S3.

[0028] In step S3, the controller 22 determines whether an object detected by any of the object detection sensors 15A, 15B, 15C is located in the swing stop area S (more specifically, an area that is a distance r or less from the swing unit 2, as shown in FIG. 5). If an object detected by any of the object detection sensors 15A, 15B, 15C is located in the swing stop area S, the process proceeds to step S4. In step S4, the swing limit valve 24 is controlled to a closed state, thereby stopping the swing of the swing unit 2.

[0029] When the inclination sensor 16 detects the inclination of the revolving unit 2 in step S2, the controller 22 proceeds to step S5. In step S5, the controller 22 expands the revolving stop area S so that the distance r' from the revolving unit 2 is larger than when the inclination of the revolving unit 2 is not detected (see FIG. 6). Then, the controller 22 proceeds to step S3.

[0030] In step S3, the controller 22 determines whether the object detected by any of the object detection sensors 15A, 15B, and 15C is located in the expanded swing stop area S. If the object detected by any of the object detection sensors 15A, 15B, and 15C is located in the expanded swing stop area S, the process proceeds to step S4. In step S4, the swing limit valve 24 is controlled to a closed state, thereby stopping the swing of the swing body 2.

[0031] As described above, in this embodiment, the rotation stop area is corrected when tilt of the rotating unit 2 is detected. Specifically, the rotation stop area is enlarged compared to when tilt of the rotating unit 2 is not detected. This allows the rotation stop of the rotating unit 2 to begin when the rotating unit 2 is far away from surrounding objects. Therefore, even if the rotation inertial force of the rotating unit 2 increases when the rotating unit 2 rotates toward the lower side of the slope, increasing the rotation stop distance of the rotating unit 2, it is possible to prevent contact between the rotating unit 2 and surrounding objects.

[0032] In the first embodiment, the hydraulic excavator is described as being provided with the swing limiting valve 24 provided in the oil passage between the pilot pump 19 and the first and second pilot valves as a swing limiting device that limits the swing operation of the swing body 2, but the present invention is not limited to this. In addition to the swing limiting valve 24, or instead of the swing limiting valve 24, the hydraulic excavator may be provided with a brake device (not shown) that brakes the rotation shaft of the swing motor 3 by frictional force. The controller 22 may control the swing limiting valve 24 and / or the brake device when an object detected by any of the object detection sensors 15A, 15B, 15C is located in a swing stop area.

[0033] In the first embodiment, from the viewpoint of avoiding contact between the revolving unit 2 and surrounding objects, the revolving stop areas are set on the left, rear, and right sides of the revolving unit 2, but this is not limiting. Furthermore, from the viewpoint of avoiding contact between the working implement 4 and surrounding objects, the revolving stop areas may be set not only on the left, rear, and right sides of the revolving unit 2, but also on the front side of the revolving unit 2 (in other words, around the working implement 4).

[0034] A second embodiment of the present invention will be described with reference to the drawings. In this embodiment, a turning deceleration area is set outside a turning stop area. In this embodiment, parts equivalent to those in the first embodiment are given the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0035] FIG. 7 is a diagram showing the configuration related to the operation of the swing motor in the configuration of the drive device of the hydraulic excavator in this embodiment.

[0036] In this embodiment, the swing limit control unit 25A of the controller 22 stores a swing stop area, which is an area set outside the swing stop area and in which the swing of the rotating unit 2 is decelerated when an object is present in that area. The swing limit control unit 25A controls the swing limit valve 24A (electromagnetic proportional valve) to an open state when no object is detected by the object detection sensors 15A, 15B, and 15C, or when an object detected by any of the object detection sensors 15A, 15B, and 15C is not located in the swing stop area or the swing deceleration area. This enables the first and second pilot valves to generate pilot pressure, allowing the swing of the rotating unit 2. When an object detected by any of the object detection sensors 15A, 15B, and 15C is located in the swing stop area, the swing limit control unit 25A controls the swing limit valve 24A to a closed state. This disables the first and second pilot valves from generating pilot pressure, stopping the swing of the rotating unit 2.

[0037] The swing limit control section 25A of the controller 22 controls the swing limit valve 24A to a throttled state when an object detected by any of the object detection sensors 15A, 15B, 15C is located in the swing deceleration area. This reduces the pilot pressure generated by the first and second pilot valves, and reduces the flow rate of pressure oil supplied from the hydraulic pump 18 to the swing motor 3 via the control valve 20. As a result, the swing of the swing unit 2 is decelerated.

[0038] As in the first embodiment, the area correction unit 26 of the controller 22 corrects the swing stop area when the tilt sensor 16 detects tilt of the swing unit 2. In detail, the swing stop area is enlarged compared to when tilt of the swing unit 2 is not detected. Accordingly, the swing deceleration area is reduced.

[0039] Next, the processing procedure of the controller of this embodiment will be described. Fig. 8 is a flowchart showing the processing procedure of the controller in this embodiment. In Fig. 8, parts equivalent to those in the first embodiment are given the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0040] If the object detected by any of the object detection sensors 15A, 15B, and 15C is not located in the turning stop area S in step S3, the controller 22 proceeds to step S6.

[0041] In step S6, the controller 22 determines whether the object detected by any of the object detection sensors 15A, 15B, 15C is located in the swing deceleration area D (more specifically, an area that is more than the distance r and less than the distance R from the swing unit 2, as shown in FIG. 9). If the object detected by any of the object detection sensors 15A, 15B, 15C is located in the swing deceleration area D, the process proceeds to step S7. In step S7, the swing limit valve 24A is controlled to a throttled state to decelerate the swing of the swing unit 2.

[0042] When the inclination sensor 16 detects the inclination of the rotating unit 2 in step S2, the controller 22 proceeds to step S5. In step S5, the controller 22 expands the swing stop area S so that the distance r' from the rotating unit 2 becomes larger compared to when the inclination of the rotating unit 2 is not detected (see FIG. 10). Accordingly, the swing deceleration area D is reduced to an area that exceeds the distance r' from the rotating unit 2 and is equal to or smaller than the distance R. Then, the controller 22 proceeds to step S3.

[0043] In step S3, the controller 22 determines whether an object detected by any of the object detection sensors 15A, 15B, and 15C is located in the expanded swing stop area S. If an object detected by any of the object detection sensors 15A, 15B, and 15C is located in the expanded swing stop area S, the process proceeds to step S4. In step S4, the swing limiting valve 24A is controlled to a closed state, thereby stopping the swing of the swing body 2.

[0044] As described above, in this embodiment as well, the swing stop area is corrected when tilt of the rotating unit 2 is detected. More specifically, the swing stop area is enlarged compared to when tilt of the rotating unit 2 is not detected. Therefore, even when an object is detected around the rotating unit 2 while the hydraulic excavator is placed on a slope and operating, it is possible to prevent contact between the rotating unit 2 and the surrounding object. Furthermore, in this embodiment, by setting a swing deceleration area outside the swing stop area, it is possible to further prevent contact between the rotating unit 2 and the surrounding object. Furthermore, it is possible to prevent the load in the bucket from spilling due to a sudden stop of the swing operation.

[0045] In the second embodiment, the hydraulic excavator has been described as having a swing limiting valve 24A provided in an oil passage between the pilot pump 19 and the first and second pilot valves as a swing limiting device that limits the swing operation of the swing body 2, but the present invention is not limited to this. In addition to the swing limiting valve 24A, the hydraulic excavator may also have a brake device (not shown) that brakes the rotation shaft of the swing motor 3 by frictional force. The controller 22 may control the swing limiting valve 24A and the brake device when an object detected by any of the object detection sensors 15A, 15B, 15C is located in a swing stop area.

[0046] In the second embodiment, from the viewpoint of avoiding contact between the revolving unit 2 and surrounding objects, the revolving stop area and the revolving deceleration area are set on the left side, rear side, and right side of the revolving unit 2, but this is not limiting. Furthermore, from the viewpoint of avoiding contact between the working implement 4 and surrounding objects, the revolving stop area and the deceleration area may be set not only on the left side, rear side, and right side of the revolving unit 2, but also on the front side of the revolving unit 2 (in other words, around the working implement 4).

[0047] Furthermore, in the first and second embodiments, the controller 22 has been described with reference to an example in which the controller 22 enlarges the entire swing stop area S when the inclination sensor 16 detects inclination of the swing unit 2, but this is not limiting. For example, as shown in FIG. 11 , the swing stop area may be divided into an area S1 on one side of the swing unit 2 in the width direction and an area S2 on the other side of the swing unit 2 in the width direction by the widthwise center line L of the swing unit 2. If the inclination angle in the width direction of the swing unit 2 detected by the inclination sensor 16 is equal to or greater than a predetermined threshold, the controller 22 may determine that inclination in the width direction of the swing unit 2 has been detected, and may select and enlarge, from areas S1 and S2, an area corresponding to the lower side of the inclination in the width direction of the swing unit 2 (area S1 in FIG. 11 ). Accordingly, a portion of the corresponding swing deceleration area may be reduced.

[0048] In the first and second embodiments, the controller 22 does not change the expanded swing stop area, but the present invention is not limited to this. The controller 22 may expand the entire swing stop area (S) or a part of the swing stop area (S1 or S2) so that the distance from the swing unit 2 increases as the tilt angle of the swing unit 2 detected by the tilt sensor 16 increases.

[0049] Although not shown, the hydraulic excavator may be provided with a pressure sensor that detects the bottom pressure of the boom cylinder 8 as a state quantity sensor that detects state quantities related to the moment of the working implement 4. Alternatively, the hydraulic excavator may be provided with three angle sensors that detect the rotation angle of the boom 5, the rotation angle of the arm 6, and the rotation angle of the bucket 7, respectively, and a weight sensor that detects the weight of the excavated material in the bucket 7. The controller 22 may calculate the moment of the working implement 4 based on the detection results of the pressure sensor described above, or the detection results of the three angle sensors and the weight sensor described above. Then, the entire swing stop area (S) or a part (S1 or S2) may be enlarged so that the distance from the rotating structure 2 increases as the moment of the working implement 4 increases.

[0050] Although the above description has been given taking a hydraulic excavator as an example of an application of the present invention, the present invention is not limited to this and may be applied to other construction machines such as a hydraulic crane. [Explanation of symbols]

[0051] 1. Running body 2 Rotating body 4 Work equipment 15A~15C Object detection sensor 16 Tilt sensor 22 Controller 24, 24A Swing limiting valve (swing limiting device)

Claims

1. A running body, a rotating body provided rotatably above the traveling body; a working device connected to the rotating body; an object detection sensor that detects objects around the rotating body; a rotation limiting device that limits the rotational movement of the rotating body; a controller that controls the rotation limiting device to stop rotation of the rotating body when the position of the object detected by the object detection sensor is located in a rotation stop area set around the rotating body, an inclination sensor that detects the inclination of the rotating body; When the tilt sensor detects the inclination of the rotating body, the controller expands the rotation stop area so that the distance from the rotating body increases as the inclination angle of the rotating body detected by the inclination sensor increases.

2. A running body, a rotating body provided rotatably above the traveling body; a working device connected to the rotating body; an object detection sensor that detects objects around the rotating body; a rotation limiting device that limits the rotational movement of the rotating body; a controller that controls the rotation limiting device to stop rotation of the rotating body when the position of the object detected by the object detection sensor is located in a rotation stop area set around the rotating body, an inclination sensor that detects the inclination of the rotating body; a state quantity sensor that detects a state quantity related to the moment of the working device, When the tilt sensor detects the tilt of the rotating body, the controller calculates the moment of the working device based on the detection result of the state quantity sensor, and expands the swing stop area so that the greater the moment of the working device, the greater the distance from the rotating body.

3. A running body, a rotating body provided rotatably above the traveling body; a working device connected to the rotating body; an object detection sensor that detects objects around the rotating body; a rotation limiting device that limits the rotational movement of the rotating body; a controller that controls the rotation limiting device to stop rotation of the rotating body when the position of the object detected by the object detection sensor is located in a rotation stop area set around the rotating body, an inclination sensor that detects the inclination of the rotating body; The swing stop area is divided into an area on one side of the swing body in the width direction and an area on the other side of the swing body in the width direction, A construction machine characterized in that, when the inclination sensor detects a widthwise inclination of the rotating body, the controller selects and enlarges an area corresponding to the lower side of the widthwise inclination of the rotating body from among the area on one side of the rotating body in the widthwise direction and the area on the other side of the rotating body in the widthwise direction.

4. A running body, a rotating body provided rotatably above the traveling body; a working device connected to the rotating body; an object detection sensor that detects objects around the rotating body; a rotation limiting device that limits the rotational movement of the rotating body; a controller that controls the turning limiting device to stop the turning of the rotating body when the position of the object detected by the object detection sensor is located in a turning stop area set around the rotating body, and controls the turning limiting device to decelerate the turning of the rotating body when the object detected by the object detection sensor is located in a turning deceleration area set outside the turning stop area, an inclination sensor that detects the inclination of the rotating body; The construction machine is characterized in that, when the inclination sensor detects inclination of the rotating body, the controller expands the rotation stop area, and reduces the rotation deceleration area as the rotation stop area expands.

Images